JP2010504732A - Solid actuator drive - Google Patents

Abstract

A solid-state actuator drive apparatus has—a shaft, —a pivot bearing for supporting the shaft, —a drive body, —at least two actuators for the excitation of the drive body and the shaft relative to each other for causing the shaft to rotate relative to the drive body, and—a base element, on which these components are attached. Either the drive body is configured such that it has a drive body opening, and the shaft at least leads into the drive body opening, —or the shaft is configured as a hollow shaft, and an element of the drive body having an annular or discoid circumference is disposed therein. The drive body is disposed stationary relative to the base element. The shaft is disposed in the pivot bearing and is adjustably disposed in the radial direction of the shaft relative to the base element by the solid-state actuators.

Description

  The present invention is a solid actuator driving device, comprising: a shaft, a rotary bearing for rotatably supporting the shaft, a driving body, and the driving body and the shaft are relatively excited to each other, At least two actuators for rotating relative to the drive body and a base element to which the component is attached are provided, the drive body is formed with a drive body opening, and the shaft is The drive body opening is at least introduced or the shaft is formed as a hollow shaft, and the element of the drive body with a ring-shaped or disc-shaped peripheral surface is arranged in the hollow shaft Concerning the format.

  An electromechanical motor with a solid actuator drive is known from EP 1098429. A rotatably supported shaft with a first diameter is surrounded by a driver with a driver opening in the form of a cylindrical hole. The shaft surface of the shaft can roll with respect to the inner surface of the driver opening having a second diameter that is slightly larger than the first diameter. In this case, the axis of the shaft and the axis of the center of the driver opening are oriented parallel to each other. The rolling movement and thus the rotation of the shaft is caused by a circular displacement movement of the drive body or by a circular displacement movement of the drive body axis parallel to the axis of the shaft. The circular relative movement between the axis of the driver opening and the axis of the axis is generated in the simplest case by two electromechanical actuators which can be operated independently of one another, in the form of linear actuators. . The direction of action of both actuators, that is, the direction of length change to be used is located in a direction orthogonal to each other. In the simplest case, the actuator is arranged such that its direction of action develops a plane perpendicular to the axis of the shaft or the axis of the annular hole. With proper electrical control of the actuator, one actuator is excited, which produces a frequency and amplitude sinusoidal displacement as a function of time, and the other actuator is excited, thereby saving time. A cosine-like displacement of frequency and amplitude as a function is produced. In this case, the displacement amplitude is greater than half the difference in diameter between the first and second diameters in order to ensure that the difference in diameter between the driver opening and the shaft can be overcome. As long as the linear motions of the two linear actuators are superimposed independently of each other, the drive body and the shaft are displaced in a circular shape as a whole, and the shaft supported rotatably is rotated.

  When a torque load is applied to the shaft, force transmission between the drive body and the shaft is performed by frictional connection in the above-described embodiment. Force transmission can be improved by the introduction of dentition. In this case, no slip can occur anymore, so that very high operating accuracy and reproducibility of the operating process is additionally obtained.

  FIG. 5 shows the principle structure of one embodiment according to the known prior art in a highly abstracted manner. In this case, force transmission between the driver opening and the shaft may be effected in a frictional connection or in a shape connection.

  The shaft 1 is rotatably supported on one bearing holder 3 by two rotational bearings 2 which are rigid in the radial direction, for example, sliding bearings, ball bearings or needle roller bearings. Both bearing holders 3 are rigidly connected via two bridge elements. Each bridge element 4 provides a support for the actuator. In the following, both actuators 5.1, 5.2 are moved in the first direction X perpendicular to the axis Z and the X actuator perpendicular to the axis Z and perpendicular to the first direction X. This is called a Y actuator used for movement in the second direction Y. Both actuators 5.1, 5.2 are mechanically and rigidly connected to the associated bridge element 4 on the support side. In an actual motor configuration, the functional elements, i.e. the bearing holder and the bridge element, are advantageously formed as components of the motor housing, which preferably consists of one or more members. Thus, the mechanically rigid attachment of one bridge element to a motor holder (not shown), for example a frame or a machine base, symbolically indicated by a triangle, in terms of immobilization to a motor housing or support element. Can be interpreted. The actuators 5.1, 5.2 are mechanically and rigidly connected at their drive end to a drive body 6 with a drive opening 6.1 in the form of a cylindrical hole. The shaft 1 passes through the drive body opening 6.1 or is introduced into the drive body opening 6.1.

  In such a configuration, during motor operation, the motor housing is considered to be stationary with respect to the translational movement together with the rotary bearing 2 and the shaft 1 and the driver 6 is considered to be moving.

  FIG. 5 shows an instantaneous situation. In this situation, the Y actuator 5.2 has just been displaced to the maximum, and the drive body 6 is in contact with the shaft 1 below as seen in the drawing. Therefore, in the plan view on the left side, the X actuator which is hidden and written is shown in a bent state. This drawing is consciously exaggerated for the sake of clarity. For solid actuators that are actually used as actuators, it is true that the actuator displacement amount a achieves only about 1-2 / 1000 of the actuator length. In the case of a currently common actuator length of about 30 mm, an actuator displacement amount of a = 60 μm at maximum is obtained. The actuator displacement amount a has to exceed the diameter difference between the second diameter D of the driver opening 6.1 and the shaft diameter d of the shaft 1, i.e. the essential prerequisite that a> (D−d) In view of the above, it becomes clear that the “deflection” of the actuators 5.1, 5.2 perpendicular to the direction of action remains negligible.

  In the electromechanical motor having this structure, a torque of a maximum of 2 Nm has already been detected and measured on the shaft 1 by using a force-connecting force transmission between the driving body 6 and the shaft 1. In this case, the load torque is transmitted from the shaft 1 to the drive body 6 in a particularly shape-connected manner, from there it reaches the motor housing or bridge element via the actuator and is finally led out to the motor holder 7. Since the shaft 1 is rotatably supported and incorporated in the motor housing or the bearing holder, torque transmission cannot be performed at the bearing location due to the principle.

  Accordingly, all loads of the acting torque M must be received and derived by the actuators 5.1, 5.2. As a result, the actuators 5.1 and 5.2 are significantly bent and loaded. Many known and novel actuator materials, particularly piezoelectric multilayer actuators made of ceramics currently in use, are considered mechanically fragile. Thus, particularly at high torque loads, the actuator material can first crack, and then even failure due to fracture.

  A deflection load causes a portion of the actuator material to be tensile loaded and a portion of the actuator material to be compressed. In particular, the tensile load acts extremely detrimentally on fragile actuator materials, especially piezoelectric ceramic materials. In contrast, there is a high strength and load capacity of this material for compressive loads.

  The first solution to this problem consists in arranging the linear actuators in pairs, as described in the unpublished German patent application 102005022355. In this case, the reduction of mechanical stress in the actuator caused by the torque load is achieved by increasing the area moment of inertia of the actuator assembly.

  Another solution, which also uses a corresponding increase in area moment of inertia, is still in the form of a drive unit structure in production, used for a piezoelectric annular motor with a piezoelectric multi-layer actuator with a square cross section. It is described in the German unpublished German patent application 102006032993.

  Another solution deals with the efficient provision of mechanical high pressure preload to the actuator. However, in this case, this pressure preload should never prevent or only slightly prevent displacement of the actuator. The pressure preload provided surpasses the overlapping mechanical tensile load components created during operation, which, in turn, creates a harmful tensile load on the actuator material in all possible operating conditions. It is desirable not to obtain. Such a solution is disclosed in German Patent Application No. 102006032995, which has not yet been published, as a preloading system for mechanically preloading a piezoactuator provided in a piezo-actuated drive in accordance with its manufacture. German unpublished as a spring wire extending over the entire circumference for applying a mechanical pressure preload to a piezo actuator provided in a piezoelectric actuating drive as described in the specification It is described in patent application No. 102006032996.

  It is an object of the present invention to provide a solid actuator drive arrangement that reduces or completely avoids the bending load of particularly mechanically fragile actuators caused by torque loads applied to the motor shaft.

  In order to solve this problem, in the first solid actuator driving apparatus of the present invention, the driving body is disposed relatively immovably with respect to the base element, the shaft is disposed on the rotary bearing, and the actuator Therefore, it is arranged to be adjustable relative to the base element at a level perpendicular to the axis of the shaft.

  Further, in order to solve this problem, in the second solid-state actuator driving device of the present invention, the driving body is disposed relatively immovable with respect to the base element, and the actuator and / or the actuator is particularly rotated simultaneously. A shaft arranged in a possible manner is arranged in the rotary bearing and is rotatable relative to the drive body, the shaft being relative to the base element at a level perpendicular to the axis of the shaft by the actuator It was arranged to be adjustable.

  In an advantageous configuration of the solid actuator drive according to the invention, the drive is rigidly attached to the base element.

  In an advantageous configuration of the solid actuator drive device according to the invention, two drive bodies, each with one drive body opening, are provided, with the shaft cooperating with both drive bodies.

  In an advantageous configuration of the solid actuator drive according to the invention, the two drive bodies are coupled to one another via a coupling element and are attached to the base element via the coupling element.

  In an advantageous configuration of the solid actuator drive according to the invention, two rotary bearings are provided, both rotary bearings being respectively connected to at least one drive body via at least one actuator.

  In an advantageous configuration of the solid actuator drive according to the invention, both rotary bearings are connected to one another via a coupling element and are connected to the drive body by an actuator via the coupling element.

  In an advantageous configuration of the solid actuator drive according to the invention, a detection device is provided for measuring the torque acting on the shaft by detecting a load acting linearly on the actuator.

  In an advantageous configuration of the solid actuator drive device according to the invention, a coupling device is provided between the shaft and the element to be driven by the shaft, the coupling device comprising the shaft and the element to be driven. To transmit rotational motion to and isolate radial shaft motion.

  In an advantageous configuration of the solid actuator drive according to the invention, the base element is the housing or frame of the drive, which firmly couples the drive to the host device.

  The invention is based on the fact that the torque load acting on the shaft is transmitted directly to the drive or motor housing, bearing holder, bridge element, etc. and from there directly to the motor holder, for example a frame or machine base. In this case, the actuator is not involved in the series of elements that transmit torque, preferably by means of a suitably arranged rotary bearing.

  According to the present invention, a shaft, a rotary bearing for supporting the shaft so as to be rigidly and easily rotatable in a radial direction, a drive body, and the drive body and the shaft are excited relative to each other; A solid actuator drive comprising at least two actuators for rotating the shaft relative to the drive and a base element to which these components are attached is advantageous. In this case, according to one embodiment, the driver is formed with a driver opening and the shaft is at least introduced into the driver opening, or according to another embodiment, the shaft However, it is formed as a hollow shaft, and an element having a ring-shaped or disk-shaped peripheral surface of the driving body is arranged in the hollow shaft. In this case, the driving body is disposed so as not to move relative to the base element. Is the shaft arranged to be rotatable relative to the solid actuator by means of a rotary bearing and is adjustable relative to the base element at a level perpendicular to the axis of the shaft? Alternatively, it can be adjusted relative to the base element in the radial and tangential direction of the shaft. In this case, the direction component to be driven is located at a level perpendicular to the axis of the shaft. In this case, in some cases, a rocking movement can be generated, for example, on the basis of a stationary rotary bearing of the element driven by the shaft.

  Advantageously, in such a solid actuator drive, no torque load is applied to the actuator or, in some cases, only a small torque load is applied. For this purpose, an improper axial vibration or lateral movement of the radial axis at a glance is acceptable. However, when considered in detail, it can be seen that the lateral movement of the shaft is so small that it can be ignored or compensated. An important advantage is that deflection loads on parts of the actuator, especially the highly harmful tensile loads associated with the deflection loads, caused by the torque load acting on the shaft and transmitted to the actuator in the known prior art, cause the actuator to rotate. By being isolated from the torque load on the shaft relative to the shaft by the bearing member, here it is avoided due to the principle. The torque load on the shaft can no longer act on the actuator so that the actuator is progressively excessively damaged or completely destroyed.

  Further advantageously, in such a solid actuator drive, it is advantageous that the actuator does not rotate relative to the base element. This facilitates electrical connection of the actuator.

  In particular, a shaft, a rotary bearing, a drive, at least two actuators for exciting the drive and the shaft relative to each other and rotating the shaft relative to the drive, and their components Also advantageous is an embodiment based on a solid actuator drive with a base element to which is attached. In this case, the drive body is formed with a drive body opening and the shaft is at least introduced into the drive body opening or the shaft is formed as a hollow shaft, and the drive body has a ring-like shape. Alternatively, an element with a disc-shaped peripheral surface is arranged in the hollow shaft, in which case the drive body is arranged immovably relative to the base element, and the actuator and / or the actuator In particular, a shaft arranged so as to be able to rotate simultaneously is arranged on a rotary bearing and can be rotated relative to the drive body, the shaft being moved relative to the base element in the radial direction of the shaft by the actuator. It is arranged to be adjustable. According to this modified alternative embodiment, the actuator is partly coupled to the shaft, in particular rigidly, and the other is rotatably supported relative to the base element. . This also causes the actuator to rotate with the shaft, although it also has no torque.

  The general basic idea of the different configurations is that one or possibly several drive bodies are arranged relatively immobile relative to the base element and the shaft accepts the lateral movement of this shaft. It exists in the arrangement | positioning relatively adjustable with respect to a base element.

  Advantageously, in particular in such a solid actuator drive, the drive body is rigidly fixed to the base element. In other words, the driving body is arranged stationary relative to the base element, and is advantageously and selectively screwed to such a base element via another rigid element. Is welded or otherwise rigidly fixed.

  Two drivers, each with one driver opening, are advantageous. In this case, the shaft cooperates with both drivers. In such an assembly, correspondingly, both drive bodies or possibly more drive bodies are arranged relatively immobile relative to the base element. Advantageously, in such an assembly, a predetermined driving force acts on the shaft at two spaced apart locations in the longitudinal direction of the shaft, so that the shaft is advantageously stabilized without tilting. Driving is performed.

  The two drive bodies are preferably coupled to one another via a coupling element and are attached to the base element via this coupling element. Such a configuration advantageously provides a spaced fixed fixability of the two drive bodies parallel to one another to a common base element, as well as a relative stationary arrangement of the two drive bodies. To do.

  Advantageously, two rotary bearings are used, each connected to at least one drive body via at least one actuator. Two or more such rotary bearings advantageously offer the possibility of guiding the shaft by two rotary bearings spaced apart from each other without tilting. Both rotary bearings are preferably coupled to one another via a coupling element and are coupled to the driver by an actuator via this coupling element.

  Advantageously, such a solid actuator drive is provided with a sensing device for measuring the torque acting on the shaft by detecting a load acting linearly on the actuator. Although direct torque transmission to the actuator is exactly advantageously avoided by the different embodiments, it is surprisingly possible to perform a torque measurement of the torque acting on the shaft. As a result, for example, the control device can detect a load acting linearly on the actuator by an appropriate algorithm. For this purpose, a control current or a control voltage applied to the actuator is calculated in some cases, so that such a torque can be estimated from the finally measured value. Thus, the sensing device is advantageously replaced by an actuator and a control device provided for control or, optionally, a circuit assembly or control assembly provided separately thereto.

  Advantageously, in such a solid actuator drive, a coupling device is provided. This coupling device is arranged between a shaft and an element to be driven by this shaft. In this case, the coupling device is formed to transmit the rotational movement between the shaft and the element to be driven and to isolate the movement of the shaft in the radial direction. Thus, by means of such a coupling device, the lateral movement of the shaft relative to the base element is advantageously disconnected during transmission to the element to be driven by the shaft, so that the element to be driven is also Similarly, such lateral movement is not performed. In a simple form, the coupling device can be replaced, for example, by a bellows clutch known per se.

  The base element is in particular the housing or frame of the drive device. In this case, the housing or frame firmly connects the driver to the host device.

  Thus, functionally, an electromechanical motor in the principle of operation of the solid actuator drive is provided. In this motor, the torque load on the drive element is transmitted directly to the motor holding member in the form of a base element via a shaft or a hollow shaft. In this case, it is advantageous that the actuator is not located in the torque transmission path. Due to the cooperation of the actuator and the at least one rotary bearing member, preferably only a radial force can be transmitted to the drive shaft or drive element. Advantageously, the isolation of the lateral movement of the drive element, i.e. the shaft or the hollow shaft, against the transmission of rotation between the shaft and the element to be driven is proposed, for example via a bellows clutch.

  In addition to solid actuators in a multi-layered PMA structure, other types of solid actuators, such as magnetostrictive solid actuators, electrostrictive solid actuators or electromagnetically actuated solid actuators can also be used. .

1 is a schematic plan view and a side cross-sectional view of components of an advantageous solid actuator drive according to a first embodiment with a solid actuator; FIG. FIG. 2 is a schematic plan view and a side sectional view of components of an advantageous solid actuator drive according to a second embodiment with a solid actuator. FIG. 6 is a schematic plan view and a side sectional view of components of an advantageous solid actuator driver according to a third embodiment with a solid actuator. FIG. 6 is a schematic plan view and a side cross-sectional view of components of an advantageous solid actuator driver according to a fourth embodiment with a solid actuator. FIG. 2 is a schematic plan view and a side cross-sectional view of components of an advantageous solid actuator drive according to a known prior art embodiment with a solid actuator.

  One embodiment is described in detail below with reference to the drawings. As long as the same reference numerals are used in different drawings, each represents a component or function that acts the same or similarly. Correspondingly, corresponding configurations are shown in the explanations for the different drawings.

  As is apparent from FIG. 1, the illustrated solid actuator drive comprises a number of individual components. In this case, the illustrated component can be supplemented by another component or replaced by another structured component that acts in a similar manner.

  The solid actuator drive has a housing or frame 7 which is only schematically shown. This housing or frame 7 contains or supports other components. A shaft 1 is arranged in the housing by a bearing assembly. In this case, the axis Z of the shaft 1 extends beyond the housing in the axial direction. In order to rotate the shaft 1 about the axis Z, a driving device works.

  This drive device has mainly two or more actuators 5.1, 5.2, which act in a linear manner, preferably in the form of a solid actuator, and a driver 6. Yes. Furthermore, the drive device has one bearing holder 3 and one or more rotary bearings 2.

  In the illustrated embodiment, the bearing holder 3 is formed from a U-shaped element opened laterally, simultaneously forming a coupling element. In this case, both leg portions of the bearing holder 3 which are parallel to each other extend in the radial direction with respect to the axis Z. Both rotary bearings 2 are arranged in the bearing holder 3. The shaft 1 passes through these rotary bearings 2. Therefore, although the shaft 1 is rotatable with at least one rotating bearing 2 and preferably with two rotating bearings 2 for stabilization against tilting, it is supported by the bearing holder 3 in a stationary manner in its radial direction. Has been.

  The drive body 6 has a circular drive body opening 6.1. This driving body opening 6.1 is formed as a through opening that penetrates the driving body 6 in particular. The shaft 1 passes through the drive body opening 6.1 or is at least introduced into the drive body opening 6.1. In this case, the outer diameter of the shaft 1 as the first diameter d is set to be smaller than the inner diameter of the driver opening 6.1 as the second diameter D. The ratio between the diameters d and D is set so that the maximum actuator displacement amount a of the actuators 5.1 and 5.2 is larger than the difference between both diameters, that is, a> (D−d) is true. . The driver 6 is adjusted to drive the shaft 1 by means of the actuators 5.1, 5.2, so that the outer wall of the shaft 1 is advantageously in consistent friction contact with the wall of the driver body, Thereby, the drive body 6 is brought into a motion for rotating the shaft 1 by appropriate control of the drive body 6 by the actuators 5.1 and 5.2.

  In order to drive the actuators 5.1, 5.2, the solid-state actuator drive has a control device C as an embedded component or possibly a unique external component. The control device C is connected to the actuators 5.1 and 5.2 via conductors in a conventional manner, whereby an electric charge or voltage is applied to the actuators 5.1 and 5.2 depending on the configuration. This causes the actuators 5.1, 5.2 to linearly extend and / or contract in the longitudinal direction corresponding to the control.

Actuators 5.1 and 5.2 are arranged between the drive body 6 and the bearing holder 3 as blind members, whereby the shaft 1 is connected to the drive body via the bearing holder 3 and the rotary bearing 2. 6 results in a quasi-circular translational motion relative to 6. In other words, the axis Z of the shaft 1 is rotated about the driver opening axis Z ^* by appropriate control of the actuators 5.1, 5.2. This driver opening axis Z ^* extends parallel to the axis Z and forms a central axis passing through the driver opening 6.1. However, in contrast to the known embodiments, the bearing holder 3 with the rotary bearing 2 is not rigidly coupled to the frame 7 or the housing, and in different embodiments the driver 6 is rigidly coupled to the frame 7. ing.

  In summary, the main structure of such an advantageous solid actuator driving device is that the frame 7 to which the driving body 6 is firmly attached and the bearing holder 3 for supporting the shaft 1 are attached to the driving body 6 in an adjustable manner. 5.1 and 5.2. As a result, the driving body 6 is arranged on the frame 7 in a stationary manner, whereas the shaft 1 performs a slight rotational or vibrational movement relative to the driving body 6 and thus the frame 7.

  The arrangement of the actuators 5.1, 5.2 between the drive body 6 and the bearing holder 3 is preferably effected by a rigid connection between the drive body 6 and the bearing holder 3. In this case, the actuators 5.1, 5.2 are preferably fixed in position in the section of the bearing holder 3 extending parallel to the axis Z. However, the actuators 5.1 and 5.2 are not necessarily firmly fixed and arranged between the driving body 6 and the bearing holder 3, but are loosely inserted between the driving body 6 and the bearing holder 3. Other embodiments are possible. In such an arrangement example, for example, more than two actuators 5.1 and 5.2 are arranged between the bearing holder 3 and the driving body 6, so that the rotary bearing 2 or the bearing holder 3 This is possible if only the extension movements of the actuators 5.1, 5.2 are used each time for the driving of the drive body 6 relative to it.

  Accordingly, FIG. 1 shows the structure of the first embodiment in a highly abstract manner. This structure differs from the known prior art shown in FIG. 4 only in the change of the holding condition, which is indicated symbolically by the black triangle. In this case, the advantageous driver 6 can be considered stationary. On the other hand, for example, the base element 7 as a motor housing, the bearing holder or the bridge element is connected to the driving body 6 by the actuators 5.1 and 5.2 formed as linear actuators together with the rotary bearing 2 and the shaft 1. It is relatively exercised.

The shaft 1 that can be used as the motor shaft is not stationary and is excited by the actuators 5.1, 5.2 in parallel to the motor axis, ie in particular to the driver opening axis Z ^* , thereby causing a circular displacement It can be felt annoying to have exercise. However, if it is considered that the displacement distance is at most 200 μm at the maximum in the current use case in the extreme case of the actuator displacement amount a, it is easy for vibration isolation of the shaft 1 from the element to be driven. By this means, it becomes clear that the problem of the displacement movement of the shaft can be easily eliminated. This is easily possible with a coupling device in the form of a bellows clutch, for example, which is flexible in the lateral direction but is rigid against torsion. As long as the dimensions are described, this dimension does not limit the possible alternative embodiments with different dimensions.

  In this structure, the rotary bearing 2 prevents the load torque M acting on the shaft 1 from being transmitted to the actuators 5.1 and 5.2. Thus, the bending load of the actuator is reliably or at least sufficiently avoided.

In another embodiment according to FIG. 2, the arrangement according to FIG. 1 has been modified such that the shaft 1 does not pass through the driver opening 6.1 of only one driver 6 and is spaced from one another. The drive body openings 6.1 of the two drive bodies 6 thus formed pass through. In this embodiment, the shaft 1 is supported by a single rotary bearing 2. The rotary bearing 2 is disposed in a bearing holder 3. The bearing holder 3 is correspondingly not formed from a U-shaped element, and in a simple configuration is formed, for example, from a square or circular element. Both drive bodies 6 are firmly connected to each other via the bridge element 4, whereby both drive bodies 6 carry out a similar movement about a common drive body opening axis Z ^* . The coupling of the drive body 6 to the bearing holder 3 is also performed via the actuators 5.1 and 5.2. In this case, in the illustrated embodiment, the actuators 5.1 and 5.2 are disposed between the outer wall of the bearing holder 3 and the wall of the bridge element 4 that faces the outer wall of the bearing holder 3. Yes. In this embodiment, the driving body 6 is also coupled to the frame 7 in the same position. In this case, the coupling to the frame 7 is performed via the bridge element 4 as a coupling element, for example.

  Thus, FIG. 2 shows a second embodiment of an electromechanical motor that can be formed in this way. In this case, although the shaft 1 is rigid in the radial direction, the shaft 1 is rotatably supported by the bearing holder 3 by a single rotating bearing 2. The shaft 1 with the first diameter d has two drives, each with one driver opening 6.1, for example formed as an annular hole, with a slightly larger hole diameter as the second diameter D. Surrounded by the body 6. Both drive bodies 6 are mechanically and rigidly coupled by, for example, two bridge elements as the coupling element 4. One bridge element acts as X actuator in the X direction transverse to the axis Z and simultaneously provides a support for the arranged actuator 5.1, while the other bridge element serves as X actuator as X actuator. A support is provided for the actuator 5.2 acting and arranged transverse to the direction and in the Y direction transverse to the axis Z.

  The functional elements, i.e. the driver 6 and the bridge element, may be formed as an integral component of the motor housing consisting of one or more members. At the end on the drive side, the linear actuators 5.1, 5.2 are preferably mechanically and rigidly coupled to the bearing holder 3. By appropriate control of the electromechanically acting actuators 5.1, 5.2, the shaft 1 is displaced relative to the driver 6 in the form of a circular displacement movement. As a result, the outer diameter of the shaft 1 rolls within the driver opening 6.1. As a result, the shaft 1 is rotated. For this purpose, the maximum actuator displacement amount a corresponding to twice the displacement amplitude must be greater than the difference between the diameters D and d in the case of the frictionally connected assembly. The force transmission between the drive body 6 and the shaft 1 is effected in a frictional connection in this case. To improve force transmission and avoid slipping, a dentition may be machined between the ring and the shaft section corresponding to the ring.

  The mechanical attachment of the motor to the motor holding member takes place in this case via the motor housing, again as indicated by the triangle symbolically on one coupling element. Thus, the fixing element 7, for example in the form of a motor housing, can be considered stationary. On the other hand, the shaft 1 and the bearing holder 3 are moved relatively. The connection of the shaft 1 to the element to be driven is effected via a torsionally rigid coupling element, for example a bellows clutch, although it is preferably laterally soft for vibration isolation.

  The load torque acting on the shaft 1 is transmitted to the driving body 6 or the fixed element 7 via a frictional connection or a shape connection, and is guided directly to the motor holding member therefrom. Thanks to the rotary bearing member between the shaft 1 and the bearing holder 3, torque transmission from the shaft 1 to the housing cannot be effected via the actuators 5.1, 5.2. Therefore, the actuators 5.1 and 5.2 acting linearly are not flexibly loaded by the torque load on the shaft 1.

  This second motor variant has a stationary motor housing as an advantage over the first variant. The mass to be moved is ideally very small in the second variant, so that the vibration excitation for the motor bearing member is also ideally small.

  FIG. 3 shows a further modified embodiment. In this embodiment, the shaft 1 ° is formed as a hollow shaft or is formed in a bell shape. One or more driving bodies 6 ° are arranged inside the shaft 1 °. Such a drive 6 ° has at least one ring-shaped or disc-shaped element 6.1 °. The diameter of the element 6.1 as the first diameter d ° is dimensioned slightly smaller than the inner diameter of the shaft 1 ° which serves as the second diameter D °. The axis 1 ° is again translated relative to the driver 6 ° via two or more actuators 5.1, 5.2. For this purpose, the actuators 5.1, 5.2 are installed between the section of the driving body 6 ° extending parallel to the axis Z and the bearing holder 3 for supporting the rotary bearing 2. Yes. In particular, in the case of an arrangement of three or more actuators 5.1, 5.2, these actuators 5.1, 5.2 are preferably driven 6 °, although a solid coupling is advantageous. And the bearing holder 3 need not be rigidly coupled. In this arrangement example, the rotary bearing 2 surrounds and guides the bearing holder 3 on the outer surface, and is mounted between the bearing holder 3 and the inner peripheral surface of the shaft 1 ° formed as a hollow shaft.

  As a main aspect, in this embodiment, the driving body 6 ° is fixedly coupled to the frame 7 that supports the entire assembly.

  Therefore, in this embodiment, a motor change mode including actuators 5.1 and 5.2 located inside the driving body 6 ° is proposed. In this motor variant, the outer surface of the drive body 6 ° drives the bell housing. The bell housing is connected to the shaft 1 ° or itself forms a hollow shaft.

  A variation based on this is a linearly acting electromechanical located inside the cylindrical bell housing or shaft 1 °, ie inside the bell housing or the inner diameter of the shaft 1 ° as the second diameter D. Actuators 5.1 and 5.2 are provided. The actuators 5.1 and 5.2 are mechanically and rigidly attached to the stator 3 on the bearing side. This stator 3 is formed as a ring-shaped or disk-shaped element 6.1 with a unique component or drive body 6 °. The motor thus formed is a stator and is attached to a motor holder (not shown), for example, the frame 7 or the machine base, as shown symbolically by a triangle. Although the stator has at least one cylindrical disk, it preferably has two cylindrical disks for symmetry reasons. Both discs here have an outer diameter which serves as the first diameter d and is selected just slightly smaller than the inner diameter of the bell housing or shaft 1 °. The shaft 1 ° is rigidly supported by the rotary bearing 2 in the radial direction, and is rotatably supported by the bearing holder 3. The electromechanical actuators 5.1, 5.2 are mechanically and rigidly coupled to the bearing holder 3 at their drive end. By appropriate control of the linear actuator, the shaft 1 ° is displaced circularly together with the bearing holder 3 and the rotary bearing 2, so that the inner surface of the shaft 1 ° with the diameter D is relative to the cylindrical outer surface of the stator disk. Rolling and thereby rotated.

  The difference in diameter between the inner diameter of the bell housing and the outer diameter of the stator disk must again be smaller than the maximum actuator displacement a> (D−d) when transmitting the frictional connection. In this case, the force transmission between the inner surface of the 1 ° shaft and the outer surface of the disk is frictionally connected. With the application of the dentition, it is also possible to achieve a shape connection with the known advantages of improved force transmission and guaranteed slip-free.

  The rotational movement of the motor thus formed is applied to the bell housing or the shaft 1 °. This circular displacement motion superimposed on the rotation of the 1 ° axis is soft in the lateral direction between the conventional means for vibration isolation, eg the bell housing or 1 ° axis and the element to be driven. It can be easily suppressed by using a torsionally rigid bellows clutch.

  When the load torque acts on the shaft 1 °, this load torque is transmitted to the motor support member via the stator disk. The actuators 5.1, 5.2 remain torque-free based on the rotary bearing 2 and are therefore never exposed to a deflecting load or never subjected to an excessively strong deflecting load. In addition, many other variations are possible. These variations are based on the same basic structure. Thus, for example, the shaft can be attached to the base element such that it can be adjusted in the radial direction of the shaft relative to the base element by means of a solid actuator, and the driver can also be attached directly to the base element. In such cases, the coupling element is omitted or the base element itself forms the coupling element.

  Furthermore, the rotary bearing need not be formed as a unique element, but may be formed functionally in a corresponding manner, for example by an actuator holding member or end section.

  FIG. 4 shows the components of an advantageous solid actuator drive with a solid actuator in a schematic plan view and a sectional side view according to a fourth embodiment. This fourth embodiment is substantially based on the third embodiment. The difference lies in that the shaft 1 ° and the actuators 5.1, 5.2 are arranged on the rotary bearing 2 together and in a non-rotatable manner. Therefore, both the shaft 1 ° and the actuators 5.1 and 5.2 are rotated relative to the drive body 2 °. In this case, the current or voltage connection of the actuator to the control device is made, for example, inductively or via a sliding contact.

  According to yet another embodiment, the principle of an actuator that rotates with the shaft may be diverted to the concept of the first example. In principle, the actuator is supported so as to be rotatable with respect to the shaft via the first rotary bearing, and can even be converted so as to be rotatably supported with respect to the drive body via the second rotary bearing. It is.

1, 1 ° axis, 2 rotary bearing, 3 bearing holder, 4 bridge element, 5.1, 5.2 actuator, 6, 6 ° driver, 6.1 driver opening, 6.1 ° element, 7 frame, a Actuator displacement, C controller, d, d ° first diameter, D, D ° second diameter, M load torque, Z axis, Z ^* Driver opening axis

Claims (10)

A solid actuator drive comprising:
The axis (1; 1 °);
A rotary bearing (2) for rotatably supporting the shaft (1; 1 °);
A driver (6; 6 °);
The driver (6; 6 °) and the axis (1; 1 °) are excited relative to each other, the axis (1; 1 °) being relative to the driver (6; 6 °) At least two actuators (5.1, 5.2) for rotation;
A base element to which said component is attached is provided;
The driver (6) is formed with a driver opening (6.1) and the shaft (1) is at least introduced into the driver opening (6.1) or the shaft (1) Is formed as a hollow shaft, and the element (6.1 °) having a ring-shaped or disk-shaped peripheral surface of the driving body (6 °) is arranged in the hollow shaft. In
The driving body (6) is arranged relatively stationary with respect to the base element;
The base element at a level perpendicular to the axis of the axis (1; 1 °) by the actuator (5.1, 5.2), the axis (1; 1 °) being arranged on the rotary bearing (2) A solid actuator driving device, wherein the solid actuator driving device is arranged to be relatively adjustable with respect to the actuator. A solid actuator drive comprising:
The axis (1; 1 °);
The rotary bearing (2);
A driver (6; 6 °);
The driver (6; 6 °) and the axis (1; 1 °) are excited relative to each other, the axis (1; 1 °) being relative to the driver (6; 6 °) At least two actuators (5.1, 5.2) for rotation;
A base element to which said component is attached is provided;
The driver (6) is formed with a driver opening (6.1) and the shaft (1) is at least introduced into the driver opening (6.1) or the shaft (1) Is formed as a hollow shaft, and the element (6.1 °) having a ring-shaped or disk-shaped peripheral surface of the driving body (6 °) is arranged in the hollow shaft. In
The driving body (6) is arranged relatively stationary with respect to the base element;
-The actuator (5.1, 5.2) and / or the actuator (5.1, 5.2), in particular the shaft (1 °) arranged so as to be able to rotate simultaneously, is arranged in the rotary bearing (2). And can be rotated relative to the driving body (6 °),
A solid actuator drive, characterized in that the axis (1 °) is arranged to be adjustable relative to the base element at a level perpendicular to the axis of the axis (1 °) by the actuator.   3. The solid actuator drive device according to claim 1, wherein the drive body (6) is firmly attached to the base element.   Two drive bodies (6), each with one drive body opening (6.1), are provided, the shaft (1; 1 °) being adapted to cooperate with both drive bodies Item 4. The solid actuator driving device according to any one of Items 1 to 3.   Solid actuator drive device according to claim 4, wherein the two drive bodies (6) are coupled to each other via a coupling element (4) and are attached to the base element via the coupling element (4).   Two rotary bearings (2) are provided, both rotary bearings (2) being connected to at least one drive body (6) via at least one actuator (5.1, 5.2), respectively. The solid actuator driving device according to claim 1, wherein the driving device is a solid actuator.   Both rotary bearings (2) are coupled to each other via a coupling element (4) and are coupled to the drive body (6) by means of an actuator (5.1, 5.2) via the coupling element (4). The solid actuator driving device according to claim 6.   8. A detection device for measuring torque (M) acting on the shaft by detecting a load acting linearly on the actuator (5.1, 5.2). The solid actuator driving apparatus according to claim 1.   There is provided a coupling device arranged between the shaft (1) and the element to be driven by the shaft, wherein the coupling device transmits rotational movement between the shaft and the element to be driven and Solid actuator drive according to any one of the preceding claims, characterized in that it is configured to insulate the movement of the shaft (1) in the radial direction.   The base element is a housing or frame (7) of the drive device, which housing or frame firmly couples the drive body (6; 6 °) to the upper device. The solid actuator drive device of any one of Claims.

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